Collaborative Robotic Biopsy with Trajectory Guidance and Needle Tip Force Feedback.
Robin MielingMaximilian NeidhardtSarah LatusCarolin StapperStefan GerlachInga KniepAxel HeinemannBenjamin OndruschkaAlexander SchlaeferPublished in: CoRR (2023)
Keyphrases
- force feedback
- needle insertion
- contact force
- ultrasound guided
- robotic arm
- robot assisted
- virtual reality
- human operators
- visual feedback
- collaborative learning
- end effector
- haptic device
- real time
- robot arm
- degrees of freedom
- collision free
- master slave
- position and orientation
- multi user
- motion planning
- virtual environment
- configuration space
- visual servoing
- computer vision